The subject of this paper is to present a theory for the dynamic radiation force produced by dual-frequency ultrasound beams in lossless and nondispersive fluids. An integral formula for the dynamic radiation force exerted on a three-dimensional object by a dual-frequency beam is obtained stemming from the fluid dynamics equations. The static radiation force due to a monochromatic wave appears as a particular case of this theory. Dependence of the dynamic radiation force to nonlinear effects of the medium is analyzed. We calculate the dynamic radiation force exerted on solid elastic spheres of two different materials by a low-amplitude dual-frequency plane wave. The static and dynamic radiation forces exhibited approximately same magnitude. Resonance patterns observed in the dynamic radiation force are similar to those present in the static radiation force.